Yes, Val Lhuede did donate her part of Yerranderie (West Yerranderie) to the NPWS and as far as I know she is is still alive. NPWS now have a caretaker there full time and there is camping available on the grassy area in front of the old Post Office. You can book sites through the NPWS website. NPWS were also using a couple of the old buildings, including the PO as accommodation.
At the moment, however, the NPWS part of Yerranderie is closed to visitors and camping as it is part of the Wollondilly LGA and therefore under Covid Lockdown rules.